From 76cf91c5fd5c176b4fecf4ec60ba446aecefdc16 Mon Sep 17 00:00:00 2001
From: jgoppert <james.goppert@gmail.com>
Date: Wed, 4 Nov 2015 20:56:44 -0500
Subject: [PATCH] Work on filter.

---
 CMakeLists.txt  |  1 +
 test/filter.cpp | 14 ++++++++------
 2 files changed, 9 insertions(+), 6 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 622559c982..50bfeebe45 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -22,6 +22,7 @@ set(CMAKE_CXX_FLAGS
 	-Wall
 	-Weffc++
 	-Werror
+	-std=c++11
 	#-Wfatal-errors
 	)
 
diff --git a/test/filter.cpp b/test/filter.cpp
index 71745c133a..b88b61244a 100644
--- a/test/filter.cpp
+++ b/test/filter.cpp
@@ -10,17 +10,19 @@ int main()
 {
     const size_t n_x = 6;
     const size_t n_y = 5;
-    SquareMatrix<float, n_x> P = eye<float, n_x>()*0.1;
-    SquareMatrix<float, n_y> R = eye<float, n_y>()*0.1;
+    SquareMatrix<float, n_x> P = eye<float, n_x>();
+    SquareMatrix<float, n_y> R = eye<float, n_y>();
     Matrix<float, n_y, n_x> C;
-    C(0,0) = 1;
-    Vector<float, n_y> r;
-    r.setZero();
-    r(0) = 1;
+    C.setIdentity();
+    float data[] = {1,2,3,4,5};
+    Vector<float, n_y> r(data);
 
     Vector<float, n_x> dx;
     float beta = 0;
     kalman_correct<float, 6, 5>(P, C, R, r, dx, beta);
+
+    dx.print();
+
     return 0;
 }